Production system

Abstract

A production system includes a conveyance device, a robot, a movement device, a sensor acquiring position information regarding an article conveyed by the conveyance device, a calculation unit calculating a velocity vector for the article conveyed by the conveyance device based on the position information acquired by the sensor, and a control unit that, when the direction of movement of the article conveyed by the conveyance device and the direction of movement of the robot moved by the movement device differ, controls a velocity vector for the robot moved by the movement device and a velocity vector for the position of an end effector of the robot so that the sum of the velocity vector for the robot moved by the movement device and the velocity vector for the position of the end effector of the robot matches the velocity vector of the article conveyed by the conveyance device.

The invention claimed is: 
     
       1. A production system including a conveyance device configured to convey an article, a robot configured to perform a work on the article conveyed by the conveyance device, a movement device configured to move the robot, the production system comprising:
 a sensor configured to acquire position information of the article conveyed by the conveyance device; 
 a calculation unit configured to compute a velocity vector of the article conveyed by the conveyance device based on the position information acquired by the sensor; and 
 a control unit configured to, when a movement direction of the article conveyed by the conveyance device is different from a movement direction of the robot moved by the movement device, control a velocity vector of the robot moved by the movement device and a velocity vector of a position of an end effector of the robot so as to make a sum of the velocity vector of the robot moved by the movement device and the velocity vector of the position of the end effector of the robot match the velocity vector of the article conveyed by the conveyance device. 
 
     
     
       2. The production system according to  claim 1 , wherein the movement device is configured to cause the robot to reciprocate in one direction. 
     
     
       3. The production system according to  claim 1 , wherein the control unit is configured to control a movement distance of the robot moved by the movement device to be greater than a movement distance of the position of the end effector of the robot. 
     
     
       4. The production system according to any one of  claim 1 , wherein the control unit is configured to control a speed in the velocity vector of the robot moved by the movement device to be higher than a speed in the velocity vector of the position of the end effector of the robot. 
     
     
       5. The production system according to any one of  claim 1 , wherein the control unit is configured to control a speed in the velocity vector of the position of the end effector of the robot to be higher than a speed in the velocity vector of the robot moved by the movement device.